arXiv subjects

Hao Ding

Publications and source records attributed to Hao Ding.

At least 37 records · Page 2Linked to original sources

arXiv2026

Satellite gravity constraints on inner core viscosity and LLVPs density anomalies

Constraining the physical properties of Earth's deep interior, particularly the viscosity of the solid inner core and the density structure of large low-velocity provinces (LLVPs), remains a major challenge in geophysics. Here we develop a unified dynamical framework that combines mantle-inner core gravitational coupling (MICG) with torsional oscillations in the fluid outer core and show that their interaction can produce a distinct and testable geodetic signature. Guided by this prediction, we analyze satellite gravity observations together with independent corrections for surface mass variability. We identify a robust approximately 6-year signal in the Stokes coefficient Delta S22, while no corresponding stationary signal is detected in Delta C22. A signal with the same periodicity is independently detected in length-of-day variations (Delta LOD), and the two signals exhibit a near anti-phase relationship. Interpreting this coupled signature within the proposed framework allows us to constrain the inner core viscosity to approximately 4.6 (+/- 1.8) x 10^16 Pa s and the equatorial relief of the inner core boundary to a semi-axis difference of about 200 +/- 70 m. The inversion further indicates mean density anomalies of +5.5 (+/- 0.6) per mil at the base of LLVPs. These results indicate that satellite gravimetry provides a direct observational window into deep-Earth dynamics and the physical properties of Earth's deep interior.

physics.geo-ph↗

arXiv2026

Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics

Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medical robotics has been limited by a fundamental data problem: existing medical robotic datasets are small, single-embodiment, and rarely shared openly, restricting the development of foundation models that the field needs to advance. We introduce Open-H-Embodiment, the largest open dataset of medical robotic video with synchronized kinematics to date, spanning more than 50 institutions and multiple robotic platforms including the CMR Versius, Intuitive Surgical's da Vinci, da Vinci Research Kit (dVRK), Rob Surgical BiTrack, Virtual Incision's MIRA, Moon Surgical Maestro, and a variety of custom systems, spanning surgical manipulation, robotic ultrasound, and endoscopy procedures. We demonstrate the research enabled by this dataset through two foundation models. GR00T-H is the first open foundation vision-language-action model for medical robotics, which is the only evaluated model to achieve full end-to-end task completion on a structured suturing benchmark (25% of trials vs. 0% for all others) and achieves 64% average success across a 29-step ex vivo suturing sequence. We also train Cosmos-H-Surgical-Simulator, the first action-conditioned world model to enable multi-embodiment surgical simulation from a single checkpoint, spanning nine robotic platforms and supporting in silico policy evaluation and synthetic data generation for the medical domain. These results suggest that open, large-scale medical robot data collection can serve as critical infrastructure for the research community, enabling advances in robot learning, world modeling, and beyond.

cs.RO↗

arXiv2026

SegSTRONG-C: Segmenting Surgical Tools Robustly On Non-adversarial Generated Corruptions -- An EndoVis'24 Challenge

Surgical data science has seen rapid advancement with the excellent performance of end-to-end deep neural networks (DNNs). Despite their successes, DNNs have been proven susceptible to minor "corruptions," introducing a major concern for the translation of cutting-edge technology, especially in high-stakes scenarios. We introduce the SegSTRONG-C challenge dedicated to better understanding model deterioration under unforeseen but plausible non-adversarial "corruption" and the capabilities of contemporary methods that seek to improve it. Built on a dataset generated through counterfactual robotic replay, SegSTRONG-C provides paired clean and "corrupted" samples, enabling reproducible evaluation of model robustness. Participants are challenged to train tool segmentation algorithms on "uncorrupted" data and evaluate them on "corrupted" test domains for the binary robot tool segmentation task. Through comprehensive baseline experiments and participating submissions from widespread community engagement, SegSTRONG-C reveals key themes for model failure and identifies promising directions for improving robustness. The performance of challenge winners, achieving an average 0.9394 DSC and 0.9301 NSD across the unreleased test sets with "corruption" types: bleeding, smoke, and low brightness. This highlights how prior knowledge, customized training strategies, and architectural choice can be leveraged to improve robustness. In conclusion, the SegSTRONG-C challenge has identified practical approaches for enhancing model robustness. However, most approaches rely on conventional techniques that have known limitations. Looking ahead, we advocate for expanding intellectual diversity and creativity in non-adversarial robustness beyond data augmentation, calling for new paradigms that enhance universal robustness to unforeseen "corruptions" to facilitate richer applications in surgical data science.

cs.CV↗

arXiv2026

Towards Robust Surgical Automation via Digital Twin Representations from Foundation Models

Large language model-based (LLM) agents are emerging as a powerful enabler of robust embodied intelligence due to their capability of planning complex action sequences. Sound planning ability is necessary for robust automation in many task domains, but especially in surgical automation. These agents rely on a highly detailed natural language representation of the scene. Thus, to leverage the emergent capabilities of LLM agents for surgical task planning, developing similarly powerful and robust perception algorithms is necessary to derive a detailed scene representation of the environment from visual input. Previous research has focused primarily on enabling LLM-based task planning while adopting simple yet severely limited perception solutions to meet the needs for bench-top experiments, but lacks the critical flexibility to scale to less constrained settings. In this work, we propose an alternate perception approach -- a digital twin (DT)-based machine perception approach that capitalizes on the convincing performance and out-of-the-box generalization of recent vision foundation models. Integrating our DT representation and LLM agent for planning with the dVRK platform, we develop an embodied intelligence system and evaluate its robustness in performing peg transfer and gauze retrieval tasks. Our approach shows strong task performance and generalizability to varied environmental settings. Despite a convincing performance, this work is merely a first step towards the integration of DT representations. Future studies are necessary for the realization of a comprehensive DT framework to improve the interpretability and generalizability of embodied intelligence in surgery.

cs.RO↗

arXiv2026

From Detection to Host Galaxy Identification: Precision Continuous Gravitational Wave Localization with a Few Anchor Pulsars

Pulsar Timing Arrays (PTAs) are rapidly advancing toward the detection of continuous gravitational waves from individual supermassive binary black holes. While it is well established that coherently utilizing the ``pulsar term" requires astrometric distance uncertainties to be smaller than the gravitational wavelength, achieving this precision across an entire array is observationally prohibitive. Here, we demonstrate that achieving sub-wavelength precision for a few ``anchor" pulsars is sufficient to phase-lock the array and drastically shrink the sky-localization error. Using 20 years of realistically simulated data, we systematically evaluate the localization performance of a 25-pulsar array containing three to six high-precision anchors. We show that while introducing three sub-wavelength anchors can reduce the 90\% credible sky area by a factor of 30 in certain directions, expanding this high-precision subset to six anchor pulsars ensures high-precision localizations across diverse source directions. Evaluating a representative set of sky directions, including local galaxy clusters and the locations of maximum and minimum array sensitivity, this six-anchor configuration yields 90\% credible localization areas ranging from $\sim 0.1$ to $9.2 \text{ deg}^2$ at a signal-to-noise ratio of 20. Furthermore, once this minimal subset crosses the sub-wavelength threshold, further reductions in distance uncertainty yield diminishing returns. This establishes a highly efficient near-term observational strategy: prioritizing intensive parallax campaigns for a small core of stable millisecond pulsars provides a cost-effective pathway to precision multi-messenger astronomy.

astro-ph.GA↗

arXiv2026

TwinOR: Photorealistic Digital Twins of Dynamic Operating Rooms for Embodied AI Research

Developing embodied AI for intelligent surgical systems requires safe, controllable environments for continual learning and evaluation. However, safety regulations and operational constraints in operating rooms (ORs) limit agents from freely perceiving and interacting in realistic settings. Digital twins provide high-fidelity, risk-free environments for exploration and training. How we may create dynamic digital representations of ORs that capture relevant spatial, visual, and behavioral complexity remains an open challenge. We introduce TwinOR, a real-to-sim infrastructure for constructing photorealistic and dynamic digital twins of ORs. The system reconstructs static geometry and continuously models human and equipment motion. The static and dynamic components are fused into an immersive 3D environment that supports controllable simulation and facilitates future embodied exploration. The proposed framework reconstructs complete OR geometry with centimeter-level accuracy while preserving dynamic interaction across surgical workflows. In our experiments, TwinOR synthesizes stereo and monocular RGB streams as well as depth observations for geometry understanding and visual localization tasks. Models such as FoundationStereo and ORB-SLAM3 evaluated on TwinOR-synthesized data achieve performance within their reported accuracy ranges on real-world indoor datasets, demonstrating that TwinOR provides sensor-level realism sufficient for emulating real-world perception and localization challenge. By establishing a perception-grounded real-to-sim pipeline, TwinOR enables the automatic construction of dynamic, photorealistic digital twins of ORs. As a safe and scalable environment for experimentation, TwinOR opens new opportunities for translating embodied intelligence from simulation to real-world clinical environments.

cs.CV↗

arXiv2026

AffordTissue: Dense Affordance Prediction for Tool-Action Specific Tissue Interaction

Surgical action automation has progressed rapidly toward achieving surgeon-like dexterous control, driven primarily by advances in learning from demonstration and vision-language-action models. While these have demonstrated success in table-top experiments, translating them to clinical deployment remains challenging: current methods offer limited predictability on where instruments will interact on tissue surfaces and lack explicit conditioning inputs to enforce tool-action-specific safe interaction regions. Addressing this gap, we introduce AffordTissue, a multimodal framework for predicting tool-action specific tissue affordance regions as dense heatmaps during cholecystectomy. Our approach combines a temporal vision encoder capturing tool motion and tissue dynamics across multiple viewpoints, language conditioning enabling generalization across diverse instrument-action pairs, and a DiT-style decoder for dense affordance prediction. We establish the first tissue affordance benchmark by curating and annotating 15,638 video clips across 103 cholecystectomy procedures, covering six unique tool-action pairs involving four instruments (hook, grasper, scissors, clipper) and their associated tasks: dissection, grasping, clipping, and cutting. Experiments demonstrate substantial improvement over vision-language model baselines (20.6 px ASSD vs. 60.2 px for Molmo-VLM), showing that our task-specific architecture outperforms large-scale foundation models for dense surgical affordance prediction. By predicting tool-action specific tissue affordance regions, AffordTissue provides explicit spatial reasoning for safe surgical automation, potentially unlocking explicit policy guidance toward appropriate tissue regions and early safe stop when instruments deviate outside predicted safe zones.

cs.CV↗

arXiv2026

SAW: Toward a Surgical Action World Model via Controllable and Scalable Video Generation

A surgical world model capable of generating realistic surgical action videos with precise control over tool-tissue interactions can address fundamental challenges in surgical AI and simulation -- from data scarcity and rare event synthesis to bridging the sim-to-real gap for surgical automation. However, current video generation methods, the very core of such surgical world models, require expensive annotations or complex structured intermediates as conditioning signals at inference, limiting their scalability. Other approaches exhibit limited temporal consistency across complex laparoscopic scenes and do not possess sufficient realism. We propose Surgical Action World (SAW) -- a step toward surgical action world modeling through video diffusion conditioned on four lightweight signals: language prompts encoding tool-action context, a reference surgical scene, tissue affordance mask, and 2D tool-tip trajectories. We design a conditional video diffusion approach that reformulates video-to-video diffusion into trajectory-conditioned surgical action synthesis. The backbone diffusion model is fine-tuned on a custom-curated dataset of 12,044 laparoscopic clips with lightweight spatiotemporal conditioning signals, leveraging a depth consistency loss to enforce geometric plausibility without requiring depth at inference. SAW achieves state-of-the-art temporal consistency (CD-FVD: 199.19 vs. 546.82) and strong visual quality on held-out test data. Furthermore, we demonstrate its downstream utility for (a) surgical AI, where augmenting rare actions with SAW-generated videos improves action recognition (clipping F1-score: 20.93% to 43.14%; cutting: 0.00% to 8.33%) on real test data, and (b) surgical simulation, where rendering tool-tissue interaction videos from simulator-derived trajectory points toward a visually faithful simulation engine.

cs.CV↗

arXiv2026

TikArt: Stabilizing Aperture-Guided Fine-Grained Visual Reasoning with Reinforcement Learning

Fine-grained visual reasoning in multimodal large language models (MLLMs) is bottlenecked by single-pass global image encoding: key evidence often lies in tiny objects, cluttered regions, subtle markings, or dense charts. We present \textbf{TikArt} (\textbf{T}h\textbf{i}n\textbf{k}ing \textbf{A}pe\textbf{rt}ure), an aperture-guided agent that formulates multimodal reasoning as sequential evidence acquisition over regions of interest. TikArt follows a Think--Aperture--Observe (TAO) loop that interleaves language reasoning with two aperture actions: Zoom, which extracts rectangular crops, and Segment, which invokes an off-the-shelf segmenter to produce object-centric mask-based views for irregular targets. A mandatory Observation step after every aperture action writes local evidence back into text, yielding interpretable aperture trajectories and persistent linguistic memory. Built on Qwen3-VL-8B, TikArt is trained with GRPO-style reinforcement learning under a two-stage curriculum. To stabilize long-horizon tool-integrated learning, we introduce Relative Uncertainty Reduction (RUR), a dense reward computed by a frozen evaluator that favors evidence-building trajectories and mitigates degenerate tool use. Experiments on high-resolution reasoning, general multimodal understanding, and both referring and reasoning-oriented segmentation show consistent gains over the backbone, demonstrating that aperture-guided observation improves fine-grained visual reasoning and transfers naturally to pixel-level grounding.

cs.CV↗

arXiv2026

Towards Controllable Video Synthesis of Routine and Rare OR Events

Purpose: Curating large-scale datasets of operating room (OR) workflow, encompassing rare, safety-critical, or atypical events, remains operationally and ethically challenging. This data bottleneck complicates the development of ambient intelligence for detecting, understanding, and mitigating rare or safety-critical events in the OR. Methods: This work presents an OR video diffusion framework that enables controlled synthesis of rare and safety-critical events. The framework integrates a geometric abstraction module, a conditioning module, and a fine-tuned diffusion model to first transform OR scenes into abstract geometric representations, then condition the synthesis process, and finally generate realistic OR event videos. Using this framework, we also curate a synthetic dataset to train and validate AI models for detecting near-misses of sterile-field violations. Results: In synthesizing routine OR events, our method outperforms off-the-shelf video diffusion baselines, achieving lower FVD/LPIPS and higher SSIM/PSNR in both in- and out-of-domain datasets. Through qualitative results, we illustrate its ability for controlled video synthesis of counterfactual events. An AI model trained and validated on the generated synthetic data achieved a RECALL of 70.13% in detecting near safety-critical events. Finally, we conduct an ablation study to quantify performance gains from key design choices. Conclusion: Our solution enables controlled synthesis of routine and rare OR events from abstract geometric representations. Beyond demonstrating its capability to generate rare and safety-critical scenarios, we show its potential to support the development of ambient intelligence models.

cs.CV↗

arXiv2026

Kinematic Evidence for Open Cluster Origins of Galactic Binary Neutron Stars

We investigate the potential birthplace of Galactic binary neutron star (BNS) systems through a kinematic analysis. Using high-precision astrometry from Gaia DR3, updated pulsar distances, and Monte Carlo sampling of astrometric errors, we integrate the past trajectories of 11 Galactic BNSs and 167 globular clusters plus 2967 open clusters, to search for past encounters. Our results suggest that BNS origin in globular clusters is unlikely, with low encounter probabilities (e.g., $\lesssim 0.5\%$ for NGC 5139) and requiring excessive ejection velocities. Conversely, our analysis indicates that open clusters are a non-negligible formation channel. Specifically, the double pulsar J0737$-$3039 shows a $13.9\%$ ($5.4\%$) probability of originating from the young cluster OC 0450 (Theia 58). Based on encounter proximity and time, we argue that Theia 58 is its more plausible birthplace. Our work provides kinematic evidence consistent with an open-cluster origin for a subset of field BNSs.

astro-ph.HE↗

arXiv2026

Kimi K2: Open Agentic Intelligence

We introduce Kimi K2, a Mixture-of-Experts (MoE) large language model with 32 billion activated parameters and 1 trillion total parameters. We propose the MuonClip optimizer, which improves upon Muon with a novel QK-clip technique to address training instability while enjoying the advanced token efficiency of Muon. Based on MuonClip, K2 was pre-trained on 15.5 trillion tokens with zero loss spike. During post-training, K2 undergoes a multi-stage post-training process, highlighted by a large-scale agentic data synthesis pipeline and a joint reinforcement learning (RL) stage, where the model improves its capabilities through interactions with real and synthetic environments. Kimi K2 achieves state-of-the-art performance among open-source non-thinking models, with strengths in agentic capabilities. Notably, K2 obtains 66.1 on Tau2-Bench, 76.5 on ACEBench (En), 65.8 on SWE-Bench Verified, and 47.3 on SWE-Bench Multilingual -- surpassing most open and closed-sourced baselines in non-thinking settings. It also exhibits strong capabilities in coding, mathematics, and reasoning tasks, with a score of 53.7 on LiveCodeBench v6, 49.5 on AIME 2025, 75.1 on GPQA-Diamond, and 27.1 on OJBench, all without extended thinking. These results position Kimi K2 as one of the most capable open-source large language models to date, particularly in software engineering and agentic tasks. We release our base and post-trained model checkpoints to facilitate future research and applications of agentic intelligence.

cs.LG↗

arXiv2025

N2E: A General Framework to Reduce Node-Differential Privacy to Edge-Differential Privacy for Graph Analytics

Differential privacy (DP) has been widely adopted to protect sensitive information in graph analytics. While edge-DP, which protects privacy at the edge level, has been extensively studied, node-DP, offering stronger protection for entire nodes and their incident edges, remains largely underexplored due to its technical challenges. A natural way to bridge this gap is to develop a general framework for reducing node-DP graph analytical tasks to edge-DP ones, enabling the reuse of existing edge-DP mechanisms. A straightforward solution based on group privacy divides the privacy budget by a given degree upper bound, but this leads to poor utility when the bound is set conservatively large to accommodate worst-case inputs. To address this, we propose node-to-edge (N2E), a general framework that reduces any node-DP graph analytical task to an edge-DP one, with the error dependency on the graph's true maximum degree. N2E introduces two novel techniques: a distance-preserving clipping mechanism that bounds edge distance between neighboring graphs after clipping, and the first node-DP mechanism for maximum degree approximation, enabling tight, privacy-preserving clipping thresholds. By instantiating N2E with existing edge-DP mechanisms, we obtain the first node-DP solutions for tasks such as maximum degree estimation. For edge counting, our method theoretically matches the error of the state-of-the-art, which is provably optimal, and significantly outperforms existing approaches for degree distribution estimation. Experimental results demonstrate that our framework achieves up to a 2.5x reduction in error for edge counting and up to an 80x reduction for degree distribution estimation.

cs.DB↗

arXiv2025

UINO-FSS: Unifying Representation Learning and Few-shot Segmentation via Hierarchical Distillation and Mamba-HyperCorrelation

Few-shot semantic segmentation has attracted growing interest for its ability to generalize to novel object categories using only a few annotated samples. To address data scarcity, recent methods incorporate multiple foundation models to improve feature transferability and segmentation performance. However, they often rely on dual-branch architectures that combine pre-trained encoders to leverage complementary strengths, a design that limits flexibility and efficiency. This raises a fundamental question: can we build a unified model that integrates knowledge from different foundation architectures? Achieving this is, however, challenging due to the misalignment between class-agnostic segmentation capabilities and fine-grained discriminative representations. To this end, we present UINO-FSS, a novel framework built on the key observation that early-stage DINOv2 features exhibit distribution consistency with SAM's output embeddings. This consistency enables the integration of both models' knowledge into a single-encoder architecture via coarse-to-fine multimodal distillation. In particular, our segmenter consists of three core components: a bottleneck adapter for embedding alignment, a meta-visual prompt generator that leverages dense similarity volumes and semantic embeddings, and a mask decoder. Using hierarchical cross-model distillation, we effectively transfer SAM's knowledge into the segmenter, further enhanced by Mamba-based 4D correlation mining on support-query pairs. Extensive experiments on PASCAL-5$^i$ and COCO-20$^i$ show that UINO-FSS achieves new state-of-the-art results under the 1-shot setting, with mIoU of 80.6 (+3.8%) on PASCAL-5$^i$ and 64.5 (+4.1%) on COCO-20$^i$, demonstrating the effectiveness of our unified approach.

cs.CV↗

arXiv2025

The systemic recoil velocity distribution and the scale height of field millisecond pulsar systems: Implications on neutron star retention fractions in star clusters

The systemic recoil velocity ($v_\mathrm{sys}$) distribution of millisecond pulsars (MSPs) is essential for understanding the MSP formation channel(s) and for estimating the retention fractions of MSPs in star clusters. However, the determination is complicated by MSPs' long-term dynamic evolution and the scarcity of radial velocity measurements. We compiled 64 field MSP systems that are well astrometrically determined, and calculated their transverse peculiar velocities $\boldsymbol{v}_\perp$ and Galactic heights $z$. Assuming that the Galactic-longitude components $v_\mathrm{l}$ of $\boldsymbol{v}_\perp$ are statistically stable over time (the "stable-$v_\mathrm{l}$" assumption), we approached the distribution of the $v_\mathrm{l}$ components of $\boldsymbol{v}_\mathrm{sys}$ by the observed $v_\mathrm{l}$ sample. We find that the observed $v_\mathrm{l}$ can be well described by a linear combination of three normal distributions. Accordingly, the MSP $v_\mathrm{sys}$ distribution can be approximated by a linear combination of three Maxwellian components under the assumption that $\boldsymbol{v}_\mathrm{sys}$ directions are uniformly distributed. Our dynamical population synthesis analysis based on the derived $v_\mathrm{sys}$ distribution verified the "stable-$v_\mathrm{l}$" assumption in the parameter space of this work, and estimated the initial and the current Galaxy-wide scale heights of field MSP systems to be about 0.32 kpc and 0.68 kpc, respectively. According to the MSP $v_\mathrm{sys}$ distribution, $\approx14$% of all the MSPs born in a globular cluster with the nominal 50 $\mathrm{km~s^{-1}}$ central escape velocity can be retained. Therefore, the $v_\mathrm{sys}$ distribution of field MSP systems may account for the high number of MSPs discovered in globular clusters, which implies that MSPs in star clusters may follow the same formation channel(s) as field MSP systems.

astro-ph.HE↗

arXiv2025

BronchOpt : Vision-Based Pose Optimization with Fine-Tuned Foundation Models for Accurate Bronchoscopy Navigation

Accurate intra-operative localization of the bronchoscope tip relative to patient anatomy remains challenging due to respiratory motion, anatomical variability, and CT-to-body divergence that cause deformation and misalignment between intra-operative views and pre-operative CT. Existing vision-based methods often fail to generalize across domains and patients, leading to residual alignment errors. This work establishes a generalizable foundation for bronchoscopy navigation through a robust vision-based framework and a new synthetic benchmark dataset that enables standardized and reproducible evaluation. We propose a vision-based pose optimization framework for frame-wise 2D-3D registration between intra-operative endoscopic views and pre-operative CT anatomy. A fine-tuned modality- and domain-invariant encoder enables direct similarity computation between real endoscopic RGB frames and CT-rendered depth maps, while a differentiable rendering module iteratively refines camera poses through depth consistency. To enhance reproducibility, we introduce the first public synthetic benchmark dataset for bronchoscopy navigation, addressing the lack of paired CT-endoscopy data. Trained exclusively on synthetic data distinct from the benchmark, our model achieves an average translational error of 2.65 mm and a rotational error of 0.19 rad, demonstrating accurate and stable localization. Qualitative results on real patient data further confirm strong cross-domain generalization, achieving consistent frame-wise 2D-3D alignment without domain-specific adaptation. Overall, the proposed framework achieves robust, domain-invariant localization through iterative vision-based optimization, while the new benchmark provides a foundation for standardized progress in vision-based bronchoscopy navigation.

cs.CV↗

arXiv2025

RAPID Hand Prototype: Design of an Affordable, Fully-Actuated Biomimetic Hand for Dexterous Teleoperation

This paper addresses the scarcity of affordable, fully-actuated five-fingered hands for dexterous teleoperation, which is crucial for collecting large-scale real-robot data within the "Learning from Demonstrations" paradigm. We introduce the prototype version of the RAPID Hand, the first low-cost, 20-degree-of-actuation (DoA) dexterous hand that integrates a novel anthropomorphic actuation and transmission scheme with an optimized motor layout and structural design to enhance dexterity. Specifically, the RAPID Hand features a universal phalangeal transmission scheme for the non-thumb fingers and an omnidirectional thumb actuation mechanism. Prioritizing affordability, the hand employs 3D-printed parts combined with custom gears for easier replacement and repair. We assess the RAPID Hand's performance through quantitative metrics and qualitative testing in a dexterous teleoperation system, which is evaluated on three challenging tasks: multi-finger retrieval, ladle handling, and human-like piano playing. The results indicate that the RAPID Hand's fully actuated 20-DoF design holds significant promise for dexterous teleoperation.

cs.RO↗

arXiv2025

Searching for continuous gravitational waves in the Parkes Pulsar Timing Array Data Release 3

We present results from an all-sky search for continuous gravitational waves from individual supermassive binary black holes using the third data release (DR3) of the Parkes Pulsar Timing Array (PPTA). Even though we recover a common-spectrum stochastic process, potentially induced by a nanohertz gravitational wave background, we find no evidence of continuous waves. Therefore, we place upper limits on the gravitational-wave strain amplitude: in the most sensitive frequency range around 10 nHz, we obtain a sky-averaged 95\% credibility upper limit of $\approx 7 \times 10^{-15}$. Our search is sensitive to supermassive binary black holes with a chirp mass of $\geq 10^9M_{\odot}$ up to a luminosity distance of 50 Mpc for our least sensitive sky direction and 200 Mpc for the most sensitive direction. This work provides at least 4 times better sensitivity in the 1-200 nHz frequency band than our last search based on the PPTA's first data release. We expect that PPTA will continue to play a key role in detecting continuous gravitational waves in the exciting era of nanohertz gravitational wave astronomy.

gr-qc↗